Code, robots and stuff

This Saturday it's time for this years installment of the national Swedish championship in robotics.
I will participate in the 3kg sumo-class(also known as megasumo) with my robot; Horus Lambda.
It's powered by four Lynxmotion GHM03-motors(300 rpm at 7.2VDC, not sure what they produce at 11.1VDC :). The sensors are two TCRT5000 refletive IR-sensors for the line-sensing and four HC-SR04 ultrasonic range finders for opponent detection. The motor driver is the H-bridge I've posted about previously. Here are some pictures of it during the build process.
The code isn't finished of course, it's not the night before the competition. Videos of it failing to do various tasks will be up during the week.